CN105979478B - A kind of localization method and equipment - Google Patents
A kind of localization method and equipment Download PDFInfo
- Publication number
- CN105979478B CN105979478B CN201610594209.4A CN201610594209A CN105979478B CN 105979478 B CN105979478 B CN 105979478B CN 201610594209 A CN201610594209 A CN 201610594209A CN 105979478 B CN105979478 B CN 105979478B
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- target object
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- wide band
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- location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
There is provided a kind of localization method and equipment for the purpose of the application, by the laser positioning position and ultra-wide band position location that obtain target object；According to the laser positioning position and ultra-wide band position location got, the physical location of the target object is determined, combine in a manner of by by laser positioning and in the way of ultra-wide band positions to realize the accurate positioning to target object.
Description
Technical field
This application involves the technologies that computer field more particularly to one position.
Background technique
In existing localization method, there are commonly global positioning system (Global Positioning System, GPS)
Positioning, network positions, ultra-wide band position (Ultra Wideband, UWB) and laser positioning etc..Wherein, ultra-wide band positioning is one
Kind no-load communication techniques, the method communicated using the pulse of time interval extremely short (less than 1 nanosecond), ultra-wide band positioning
Strong interference immunity, efficiency of transmission is high, and the big transmission power of power system capacity is very small, but certain due to existing in ultra-wide band position fixing process
Position location error, the error of position location depending on the site environment difference usually between more than ten centimetres to half meter,
Cause ultra-wide band position location inaccurate；Wherein, laser positioning is positioned by ranging, i.e. Laser Positioning Equipment transmitting connects
Continuous laser signal calculates this section of distance according to the time difference of the reflected signal of slave measurand received, then ties
Close the odometer synthesis device that target is carried, such as encoder, inertial navigation equipment and the angle and laser positioning for emitting laser signal
The angle of transmitter in equipment, to determine the relative position of measurand and transmitter, laser positioning can only be certain
Precise positioning is carried out to measurand in orientation range, if but after measurand moves suddenly, such as artificially moves, seriously beats
It is sliding, the measurand can not be navigated to immediately, cause to occur during laser positioning since measurand position is moved suddenly
The defect of itself accurate location can not be found after dynamic.
Summary of the invention
The purpose of the application is to provide a kind of method and apparatus of positioning, in the prior art can not be to target object with solution
The problem of being accurately positioned.
According to the one aspect of the application, a kind of method of positioning is provided, comprising:
Obtain the laser positioning position and ultra-wide band position location of target object；
According to the laser positioning position and ultra-wide band position location got, the physical location of the target object is determined.
Further, the laser positioning position and ultra-wide band position location that the basis is got, determine the target pair
The physical location of elephant, comprising:
Judge positional distance between the laser positioning position of target object and ultra-wide band position location whether it is default away from
From in threshold interval；
If the positional distance is not in the pre-determined distance threshold interval, based on the ultra-wide band position location to institute
It states target object and re-starts laser positioning, with the physical location of the determination target object.
Further, the ultra-wide band position location for obtaining target object, further includes:
Electronic tag is set on target object, in the indoor setting base station where target object；
By the communication of the electronic tag and base station, the ultra-wide band position location of target object is obtained.
Further, the base station is set to the indoor top.
Further, the quantity of the base station is at least two.
Further, the positional distance between the laser positioning position and ultra-wide band position location of the judgement target object
After whether in pre-determined distance threshold interval, further includes:
If the positional distance is located in the pre-determined distance threshold interval, the laser positioning position is determined as institute
State the physical location of target object.
Further, described that laser positioning is re-started to the target object based on the ultra-wide band position location, with
Determine the physical location of the target object, comprising:
Laser positioning is re-started to the target object within a preset range, with the actual bit of the determination target object
It sets, wherein the preset range is using the ultra-wide band position location as the center of circle, using preset error threshold section as radius
Range.
Further, described that laser positioning is re-started to the target object within a preset range, with the determination mesh
Mark the physical location of object, comprising:
Laser positioning is re-started to the target object within a preset range, position is relocated with the updated laser of determination
It sets；
Based on the updated laser reorientation position and the ultra-wide band position location, the target object is determined
Physical location.
Further, described based on the updated laser reorientation position and the ultra-wide band position location, it determines
The physical location of the target object, comprising:
If the positional distance between the updated laser reorientation position of the target object and ultra-wide band position location
In the pre-determined distance threshold interval, then laser reorientation position is determined as to the physical location of the target object.
Further, described based on the updated laser reorientation position and the ultra-wide band position location, it determines
The physical location of the target object, comprising:
If the reorientation position between the updated laser reorientation position of the target object and ultra-wide band position location
Distance is set not in the pre-determined distance threshold interval, then the target object is re-started based on the ultra-wide band position location
Laser positioning relocates position with the updated laser of determination, repeats this step, until the updated of the target object swashs
Light relocates the positional distance between position and ultra-wide band position location in the pre-determined distance threshold interval.
According to the another aspect of the application, a kind of equipment used for positioning is additionally provided, comprising:
Acquisition device, for obtaining the laser positioning position and ultra-wide band position location of target object；
Determining device, for determining the target pair according to the laser positioning position and ultra-wide band position location got
The physical location of elephant.
Further, the determining device is used for:
Judge positional distance between the laser positioning position of target object and ultra-wide band position location whether it is default away from
From in threshold interval；
If the positional distance is not in the pre-determined distance threshold interval, based on the ultra-wide band position location to institute
It states target object and re-starts laser positioning, with the physical location of the determination target object.
Further, the acquisition device is also used to:
Electronic tag is set on target object, in the indoor setting base station where target object；
By the communication of the electronic tag and base station, the ultra-wide band position location of target object is obtained.
Further, the base station is set to the indoor top.
Further, the quantity of the base station is at least two.
Further, the determining device is also used to:
If the positional distance is located in the pre-determined distance threshold interval, the laser positioning position is determined as institute
State the physical location of target object.
Further, the determining device is used for:
Laser positioning is re-started to the target object within a preset range, with the actual bit of the determination target object
It sets, wherein the preset range is using the ultra-wide band position location as the center of circle, using preset error threshold section as radius
Range.
Further, the determining device is used for:
Laser positioning is re-started to the target object within a preset range, position is relocated with the updated laser of determination
It sets；
Based on the updated laser reorientation position and the ultra-wide band position location, the target object is determined
Physical location.
Further, the determining device is used for:
If the positional distance between the updated laser reorientation position of the target object and ultra-wide band position location
In the pre-determined distance threshold interval, then laser reorientation position is determined as to the physical location of the target object.
Further, the determining device is used for:
If the reorientation position between the updated laser reorientation position of the target object and ultra-wide band position location
Distance is set not in the pre-determined distance threshold interval, then the target object is re-started based on the ultra-wide band position location
Laser positioning relocates position with the updated laser of determination, repeats this step, until the updated of the target object swashs
Light relocates the positional distance between position and ultra-wide band position location in the pre-determined distance threshold interval.
Compared with prior art, this application provides a kind of methods and apparatus of positioning, by obtaining swashing for target object
Light-seeking position and ultra-wide band position location；According to the laser positioning position that gets and ultra-wide band position location, determine described in
The physical location of target object, to be realized by being combined in a manner of laser positioning and in the way of ultra-wide band positions to target pair
The accurate positioning of elephant.Further, the laser positioning position and ultra-wide band position location that the basis is got, determine the mesh
The physical location for marking object includes: the positional distance judged between the laser positioning position of target object and ultra-wide band position location
Whether in pre-determined distance threshold interval；If the positional distance is not in the pre-determined distance threshold interval, based on described
Ultra-wide band position location re-starts laser positioning to the target object, with the physical location of the determination target object, if
Positional distance between ultra-wide band position location and laser positioning position is in pre-determined distance threshold interval, by laser positioning position
It is determined as the physical location of the target object, to realize the accurate positioning to the target object.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 shows a kind of method flow schematic diagram used for positioning according to the application one aspect；
Fig. 2 shows a kind of holistic approach streams used for positioning according to a preferred embodiment of the one aspect of the application
Journey schematic diagram；
Fig. 3 shows a kind of structural schematic diagram of equipment used for positioning according to the application one aspect.
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
The application is described in further detail with reference to the accompanying drawing.
Fig. 1 shows a kind of method flow schematic diagram used for positioning according to the application one aspect.This method includes step
Rapid S11 and step S12, wherein the step S11 obtains the laser positioning position and ultra-wide band position location of target object；Institute
Step S12 is stated, according to the laser positioning position and ultra-wide band position location got, determines the actual bit of the target object
It sets.
It should be noted that the target object can be include but is not limited to be Intelligent mobile equipment and intelligent robot
Deng, wherein the Intelligent mobile equipment includes smart phone, computer, Intelligent flight device, intelligent automobile etc., the intelligent machine
Device people includes industrial intelligent robot, home services intelligent robot and special applications robot etc..One in the application is excellent
It selects in embodiment, is preferably intelligent robot by the target object, certainly, the intelligent robot is only the described of the application
One preferred embodiments of target object, other described target objects that are existing or being likely to occur from now on are such as applicable to this Shen
Please, it should also be included within the application protection scope, and be incorporated herein by reference.
Further, the ultra-wide band position location of the acquisition target object in the step S11, further includes:
Electronic tag is set on target object, in the indoor setting base station where target object；
By the communication of the electronic tag and base station, the ultra-wide band position location of target object is obtained.
In the preferred embodiment of the application, the step S11 is in the indoor setting where the intelligent robot
Base station, it is preferable that the base station is set to the indoor top, i.e., using ceiling type mounting means come mounted base station, so as to
Ultra-wide band positioning is carried out to intelligent robot in all directions；Preferably, set base station at least two indoors, to guarantee
There are enough base stations indoors to be communicated with the intelligent robot, to reach fixed to the ultra-wide band of intelligent robot
Position；Further, if what the base station being arranged indoors surrounded is convex-edge shape, then the convex-edge shape should include intelligence as far as possible
The zone of action of robot, can ultra-wide band positioning be carried out to intelligent robot in all directions, so that the intelligence obtained
The ultra-wide band position location of robot is more accurate.
In the preferred embodiment of the application, laser positioning method used by the laser positioning of the step S11
Can be includes but is not limited to include with laser radar apparatus combination odometer synthesis device, such as encoder, inertial navigation equipment, is led to
Cross the precise positioning position of the robot of the tracking acquisition of the detection and self-position to external environment in the environment.Certainly, institute
It states with laser radar apparatus combination odometer synthesis device and realizes that laser positioning is only swashing in the step S11 of the application
One preferred embodiments of the laser positioning method of light-seeking, other described laser positioning sides that are existing or being likely to occur from now on
Method is such as applicable to the application, should also be included within the application protection scope, and be incorporated herein by reference.
Further, the step S12 is according to the laser positioning position that gets and ultra-wide band position location, determine described in
The physical location of target object, comprising:
Judge positional distance between the laser positioning position of target object and ultra-wide band position location whether it is default away from
From in threshold interval；
If the positional distance is not in the pre-determined distance threshold interval, based on the ultra-wide band position location to institute
It states target object and re-starts laser positioning, with the physical location of the determination target object.
In the preferred embodiment of the application, obtain target object intelligent robot A's in the step S11
Laser positioning position P1 and ultra-wide band position location P2；The institute of the intelligent robot A obtained is judged in the step S12
The positional distance d1 between laser positioning position P1 and ultra-wide band position location P2 is stated whether in pre-determined distance threshold interval D；
If the positional distance d1 is not in the pre-determined distance threshold interval, based on the ultra-wide band position location P2 to the intelligence
Energy robot A re-starts laser positioning, with the physical location of the determination intelligent robot A, to realize the intelligence machine
People re-starts laser positioning to intelligent robot A after movement, based on the ultra-wide band position location P2, to realize to intelligence
The accurate positioning of energy robot.
Further, the laser positioning position for judging target object in the step S12 and ultra-wide band position location it
Between positional distance whether in pre-determined distance threshold interval after, further includes:
If the positional distance is located in the pre-determined distance threshold interval, the laser positioning position is determined as institute
State the physical location of target object.
Then the above preferred embodiment of the application, if in the step S12 intelligent robot A the laser positioning
Positional distance d1 between position P1 and ultra-wide band position location P2 is located in the pre-determined distance threshold interval D, then will be described
Laser positioning position P1 is determined as the physical location of the intelligent robot A, realizes the accurate positioning to intelligent robot A.
Further, in the step S12 it is described based on the ultra-wide band position location to the target object again
Laser positioning is carried out, with the physical location of the determination target object, comprising:
Laser positioning is re-started to the target object within a preset range, with the actual bit of the determination target object
It sets, wherein the preset range is using the ultra-wide band position location as the center of circle, using preset error threshold section as radius
Range.
Then the above preferred embodiment of the application, judgement show that the described of intelligent robot A swashs in the step S12
Positional distance d1 between light-seeking position P1 and ultra-wide band position location P2 not in the pre-determined distance threshold interval D it
Afterwards, the step S12 is based on the ultra-wide band position location P2 and re-starts laser to intelligent robot A in preset range S
Positioning, to determine the physical location of intelligent robot A, wherein the preset range S is to be with the ultra-wide band position location P2
The center of circle, using preset error threshold section △ d as the range of radius, to realize that the intelligent robot is dashed forward during positioning
So after movement, laser positioning is re-started to intelligent robot in the preset range S based on ultra-wide band position location P2,
To reach the pinpoint purpose of intelligent robot A.
Further, laser positioning is re-started to the target object within a preset range in the step S12, with
Determine the physical location of the target object, comprising:
Laser positioning is re-started to the target object within a preset range, position is relocated with the updated laser of determination
It sets；
Based on the updated laser reorientation position and the ultra-wide band position location, the target object is determined
Physical location.
Then the above preferred embodiment of the application, the step S12 in preset range S to intelligent robot A again
After carrying out laser positioning, position P1 ' is relocated with the updated laser of determination；Then based on the updated laser reorientation
Position P1 ' and the ultra-wide band position location P2, to determine the physical location of intelligent robot A, to realize to intelligent robot A
Accurate positioning.
Further, fixed based on the updated laser reorientation position and the ultra-wide band in the step S12
Position position, determines the physical location of the target object, comprising:
If the positional distance between the updated laser reorientation position of the target object and ultra-wide band position location
In the pre-determined distance threshold interval, then laser reorientation position is determined as to the physical location of the target object.
Then the above preferred embodiment of the application, the step S12 in preset range S to intelligent robot A again
After carrying out laser positioning, after the updated laser reorientation position P1 ' of determination, if the updated of intelligent robot A swashs
Light relocates the positional distance d ' between position P1 ' and ultra-wide band position location P2 in the pre-determined distance threshold interval D, then
Laser reorientation position P1 ' is determined as to the physical location of intelligent robot A, to realize the intelligent robot A fixed
Position during suddenly move after, based on ultra-wide band position location P2 in the preset range S to intelligent robot again
Laser positioning is carried out, and after meeting the positional distance d ' in the pre-determined distance threshold interval D, so that it is determined that intelligent machine
The physical location of device people A is that updated laser relocates position P1 ', to reach the pinpoint mesh to intelligent robot A
's.
Further, fixed based on the updated laser reorientation position and the ultra-wide band in the step S12
Position position, determines the physical location of the target object, comprising:
If the positional distance between the updated laser reorientation position of the target object and ultra-wide band position location
Not in the pre-determined distance threshold interval, then it is fixed laser to be re-started to the target object based on the ultra-wide band position location
Position relocates position with the updated laser of determination, repeats this step, until the updated laser of the target object is reset
Positional distance between position position and ultra-wide band position location is in the pre-determined distance threshold interval.
Then the above preferred embodiment of the application, the step S12 in preset range S to intelligent robot A again
After carrying out laser positioning, after the updated laser reorientation position P1 ' of determination, if the updated of intelligent robot A swashs
Light relocates the positional distance d ' between position P1 ' and ultra-wide band position location P2 not between the pre-determined distance threshold zone D, then
Laser positioning is re-started to intelligent robot A based on the ultra-wide band position location P2, is reset with the updated laser of determination
Position position P1 " repeats to re-start laser positioning to intelligent robot A based on the ultra-wide band position location P2, to determine more
Laser after new relocates position P1n, until the updated laser of intelligent robot A relocates position P1nIt is positioned with ultra-wide band
Positional distance d between the P2 of positionnIn the pre-determined distance threshold interval D, so as to by the updated laser weight
Position location P1nIt is determined as the physical location of intelligent robot A, realizes based on ultra-wide band positioning and the laser positioning
Combination, reach the pinpoint purpose to intelligent robot A.
Fig. 2 shows a kind of holistic approach streams used for positioning according to a preferred embodiment of the one aspect of the application
Journey schematic diagram.As shown in Fig. 2, firstly, obtain the laser positioning position P1 of intelligent robot A by way of laser positioning,
The ultra-wide band position location P2 of the intelligent robot A is obtained in such a way that ultra-wide band positions；Then, in position fusion device
The positional distance d of the middle laser positioning position P1 and ultra-wide band position location P2 for calculating the intelligent robot A obtained；So
Afterwards, the positional distance d is judged whether in pre-determined distance threshold interval D, if the positional distance d is located at the pre-determined distance
In threshold interval D, then the laser positioning position P1 is determined as to the physical location of the intelligent robot A, if the position
Distance d is not in the pre-determined distance threshold interval D, then within a preset range based on the ultra-wide band position location P2 to described
Intelligent robot A re-starts laser positioning, relocates position P1 ' with the updated laser of determination；Again in position fusion device
The middle updated laser reorientation position P1 ' and ultra-wide band position location P2 for calculating the intelligent robot A reacquired
Positional distance d '；Then positional distance d ' is judged whether in pre-determined distance threshold interval D, if so, swashing updated
Light reorientation position P1 ' is determined as the physical location of the intelligent robot A, if it is not, being then cyclically based within a preset range
The ultra-wide band position location P2 re-starts laser positioning to the intelligent robot A, is reset with the updated laser of determination
Position position P1n, until the updated laser of the intelligent robot A relocates position P1nWith the position of ultra-wide band position location P2
Set distance dnIn the pre-determined distance threshold interval, to realize the accurate positioning to the intelligent robot A.
In conclusion, when the target object is opened, being obtained according to ultra-wide band positioning in embodiments herein
The ultra-wide band position location for getting the target object after artificially being moved, since ultra-wide band positioning exists centainly
Error range (preset range i.e. in the application), therefore after the target object is moved, while being based on the super band
Wide position location obtains the laser positioning position of the target object, is then based on the ultra-wide band position location and the laser
Position location determines the physical location of the target object, to realize the precise positioning to the target object；Further,
The physical location that the target object is determined based on the ultra-wide band position location and the laser positioning position, packet
Include: judge positional distance between the ultra-wide band position location and laser positioning position whether in pre-determined distance threshold interval,
If so, laser positioning position to be determined as to the physical location of target object, if it is not, then based on ultra-wide band position location default
Laser positioning is re-started to target object in range, position is relocated with the updated laser of determination, is then continued to based on institute
The positional distance stated between updated laser reorientation position and ultra-wide band position location judges whether in the pre-determined distance
Threshold interval, until the physical location of target object is determined, to reach the accurate positioning to target object.
Fig. 3 shows a kind of structural schematic diagram of equipment used for positioning according to the application one aspect.The equipment 1 includes
Acquisition device 11 and determining device 12, wherein the acquisition device 11 is used for: it obtains the laser positioning position of target object and surpasses
Bandwidth position location；The determining device 12 is used for: according to the laser positioning position and ultra-wide band position location got, being determined
The physical location of the target object.
Here, the equipment 1 includes but is not limited to that customer equipment, the network equipment and customer equipment and the network equipment pass through
Network is integrated constituted equipment.The network equipment includes one kind can be according to the instruction for being previously set or storing, automatically
The electronic equipment of numerical value calculating and information processing is carried out, hardware includes but is not limited to microprocessor, specific integrated circuit
(ASIC), programmable gate array (FPGA), digital processing unit (DSP), embedded device etc..The network is including but not limited to mutual
Networking, wide area network, Metropolitan Area Network (MAN), local area network, VPN network, wireless self-organization network (Ad Hoc network) etc..Preferably, described to set
It can also be for 1 and run on the script journey that the user equipment is integrated in constituted equipment by network with the network equipment
Sequence.It is preferably source virtual switch, certainly, those skilled in the art by the equipment 1 in the preferred embodiment of the application
Member will be understood that above equipment 1 is only the preferred embodiment of the application, other are existing or are likely to occur from now on described
Equipment 1 is such as applicable to the application, should also be included within the application protection scope, and be incorporated herein by reference.
It constantly works between above-mentioned each device, here, it will be understood by those skilled in the art that " lasting " refers to
State each device respectively in real time or according to setting or real-time adjustment operating mode requirement.
It should be noted that the target object can be include but is not limited to be Intelligent mobile equipment and intelligent robot
Deng, wherein the Intelligent mobile equipment includes smart phone, computer, Intelligent flight device, intelligent automobile etc., the intelligent machine
Device people includes industrial intelligent robot, home services intelligent robot and special applications robot etc..One in the application is excellent
It selects in embodiment, is preferably intelligent robot by the target object, certainly, the intelligent robot is only the described of the application
One preferred embodiments of target object, other described target objects that are existing or being likely to occur from now on are such as applicable to this Shen
Please, it should also be included within the application protection scope, and be incorporated herein by reference.
Further, the acquisition device 11 is also used to:
Electronic tag is set on target object, in the indoor setting base station where target object；
By the communication of the electronic tag and base station, the ultra-wide band position location of target object is obtained.
In the preferred embodiment of the application, the acquisition device 11 is set in the interior where the intelligent robot
Set base station, it is preferable that the base station is set to the indoor top, i.e., using ceiling type mounting means come mounted base station, with
Just ultra-wide band positioning is carried out to intelligent robot in all directions；Preferably, set base station at least two indoors, to protect
Card has enough base stations to be communicated with the intelligent robot, to reach fixed to the ultra-wide band of intelligent robot indoors
Position；Further, if what the base station being arranged indoors surrounded is convex-edge shape, then the convex-edge shape should include intelligence as far as possible
The zone of action of robot, can ultra-wide band positioning be carried out to intelligent robot in all directions, so that the intelligence obtained
The ultra-wide band position location of robot is more accurate.
Further, the determining device 12 is used for:
Judge positional distance between the laser positioning position of target object and ultra-wide band position location whether it is default away from
From in threshold interval；
If the positional distance is not in the pre-determined distance threshold interval, based on the ultra-wide band position location to institute
It states target object and re-starts laser positioning, with the physical location of the determination target object.
In the preferred embodiment of the application, target object intelligent robot A is obtained in the acquisition device 11
Laser positioning position P1 and ultra-wide band position location P2 after；The intelligence machine obtained is judged in the determining device 12
Whether the positional distance d1 between the laser positioning position P1 and ultra-wide band position location P2 of people A is in pre-determined distance threshold zone
Between in D；If the positional distance d1 not in the pre-determined distance threshold interval, is based on P2 pairs of the ultra-wide band position location
The intelligent robot A re-starts laser positioning, with the physical location of the determination intelligent robot A, to realize the intelligence
Energy robot after movement, re-starts laser positioning to intelligent robot A based on the ultra-wide band position location P2, with reality
Now to the accurate positioning of intelligent robot.
Further, the determining device 12 is also used to:
If the positional distance is located in the pre-determined distance threshold interval, the laser positioning position is determined as institute
State the physical location of target object.
Then the above preferred embodiment of the application, if in the determining device 12 intelligent robot A the laser
Positional distance d1 between position location P1 and ultra-wide band position location P2 is located in the pre-determined distance threshold interval D, then will
The laser positioning position P1 is determined as the physical location of the intelligent robot A, realizes to the accurate fixed of intelligent robot A
Position.
Further, the determining device 12 is used for:
Laser positioning is re-started to the target object within a preset range, with the actual bit of the determination target object
It sets, wherein the preset range is using the ultra-wide band position location as the center of circle, using preset error threshold section as radius
Range.
Then the above preferred embodiment of the application, judgement obtains the institute of intelligent robot A in the determining device 12
The positional distance d1 between laser positioning position P1 and ultra-wide band position location P2 is stated not in the pre-determined distance threshold interval D
Later, the determining device 12 then based on the ultra-wide band position location P2 in preset range S to intelligent robot A again
Laser positioning is carried out, to determine the physical location of intelligent robot A, wherein the preset range S is with ultra-wide band positioning
Position P2 is the center of circle, using preset error threshold section △ d as the range of radius, to realize the intelligent robot in positioning
Intelligent robot is re-started in the preset range S based on ultra-wide band position location P2 after movement suddenly in the process
Laser positioning, to reach the pinpoint purpose of intelligent robot A.
Further, the determining device 12 is used for:
Laser positioning is re-started to the target object within a preset range, position is relocated with the updated laser of determination
It sets；
Based on the updated laser reorientation position and the ultra-wide band position location, the target object is determined
Physical location.
Then the above preferred embodiment of the application, the determining device 12 is in preset range S to intelligent robot A weight
After new progress laser positioning, position P1 ' is relocated with the updated laser of determination；Then it is reset based on the updated laser
Position position P1 ' and the ultra-wide band position location P2, to determine the physical location of intelligent robot A, to realize to intelligence machine
The accurate positioning of people A.
Further, the determining device 12 is used for:
If the positional distance between the updated laser reorientation position of the target object and ultra-wide band position location
In the pre-determined distance threshold interval, then laser reorientation position is determined as to the physical location of the target object.
Then the above preferred embodiment of the application, the determining device 12 is in preset range S to intelligent robot A weight
After new progress laser positioning, after the updated laser reorientation position P1 ' of determination, if intelligent robot A's is updated
Laser relocates the positional distance d ' between position P1 ' and ultra-wide band position location P2 in the pre-determined distance threshold interval D,
Laser reorientation position P1 ' is then determined as to the physical location of intelligent robot A, to realize that the intelligent robot A exists
After being moved suddenly during positioning, based on ultra-wide band position location P2 to intelligent robot weight in the preset range S
It is new to carry out laser positioning, and after meeting the positional distance d ' in the pre-determined distance threshold interval D, so that it is determined that intelligence
The physical location of robot A is that updated laser relocates position P1 ', to reach to the pinpoint of intelligent robot A
Purpose.
Further, the determining device 12 is used for:
If the positional distance between the updated laser reorientation position of the target object and ultra-wide band position location
Not in the pre-determined distance threshold interval, then it is fixed laser to be re-started to the target object based on the ultra-wide band position location
Position relocates position with the updated laser of determination, repeats this step, until the updated laser of the target object is reset
Positional distance between position position and ultra-wide band position location is in the pre-determined distance threshold interval.
Then the above preferred embodiment of the application, the determining device 12 is in preset range S to intelligent robot A weight
After new progress laser positioning, after the updated laser reorientation position P1 ' of determination, if intelligent robot A's is updated
Laser relocates the positional distance d ' between position P1 ' and ultra-wide band position location P2 not between the pre-determined distance threshold zone D,
Laser positioning is then re-started to intelligent robot A based on the ultra-wide band position location P2, with the updated laser weight of determination
Position location P1 " repeats to re-start laser positioning to intelligent robot A based on the ultra-wide band position location P2, with determination
Updated laser relocates position P1n, until the updated laser of intelligent robot A relocates position P1nIt is fixed with ultra-wide band
Positional distance d between the position P2 of positionnIn the pre-determined distance threshold interval D, so as to by the updated laser
Relocate position P1nIt is determined as the physical location of intelligent robot A, it is fixed based on ultra-wide band positioning and the laser to realize
The combination of position, reaches the pinpoint purpose to intelligent robot A.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, the software program of the application can be executed to implement the above steps or functions by processor.Similarly, the application
Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, hardware can be used to realize in some steps or function of the application, example
Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the present processes and/or technical solution.
And the program instruction of the present processes is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal-bearing mediums and transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, including a device according to one embodiment of the application, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When enabling by processor execution, method and/or skill of the device operation based on aforementioned multiple embodiments according to the application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case where without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple
Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table
Show title, and does not indicate any particular order.
Claims (16)
1. a kind of localization method, wherein the described method includes:
Obtain the laser positioning position and ultra-wide band position location of target object；
According to the laser positioning position and ultra-wide band position location got, the physical location of the target object is determined, comprising:
Judge the positional distance between the laser positioning position of target object and ultra-wide band position location whether in pre-determined distance threshold
It is worth in section；
If the positional distance not in the pre-determined distance threshold interval, is positioned based on the ultra-wide band within a preset range
Position re-starts laser positioning to the target object, with the physical location of the determination target object, wherein described default
Range is using the ultra-wide band position location as the center of circle, using preset error threshold section as the range of radius.
2. according to the method described in claim 1, wherein, obtaining the ultra-wide band position location of target object, further includes:
Electronic tag is set on target object, in the indoor setting base station where target object；
By the communication of the electronic tag and base station, the ultra-wide band position location of target object is obtained.
3. according to the method described in claim 2, wherein, the base station is set to the indoor top.
4. according to the method described in claim 2, wherein, the quantity of the base station is at least two.
5. according to the method described in claim 1, wherein, the laser positioning position of the judgement target object and ultra-wide band position
After whether positional distance between position is in pre-determined distance threshold interval, further includes:
If the positional distance is located in the pre-determined distance threshold interval, the laser positioning position is determined as the mesh
Mark the physical location of object.
6. described within a preset range based on the ultra-wide band position location to institute according to the method described in claim 1, wherein
It states target object and re-starts laser positioning, with the physical location of the determination target object, comprising:
Laser positioning is re-started to the target object within a preset range, position is relocated with the updated laser of determination；
Based on the updated laser reorientation position and the ultra-wide band position location, the reality of the target object is determined
Position.
7. described based on the updated laser reorientation position and described super according to the method described in claim 6, wherein
Bandwidth position location determines the physical location of the target object, comprising:
If the positional distance between the updated laser reorientation position of the target object and ultra-wide band position location is in institute
It states in pre-determined distance threshold interval, then laser reorientation position is determined as to the physical location of the target object.
8. described based on the updated laser reorientation position and described super according to the method described in claim 7, wherein
Bandwidth position location determines the physical location of the target object, comprising:
If the target object updated laser reorientation position and ultra-wide band position location between reorientation position away from
From not in the pre-determined distance threshold interval, then laser is re-started to the target object based on the ultra-wide band position location
Positioning relocates position with the updated laser of determination, repeats this step, until the updated laser weight of the target object
Positional distance between position location and ultra-wide band position location is in the pre-determined distance threshold interval.
9. a kind of equipment used for positioning, wherein the equipment includes:
Acquisition device, for obtaining the laser positioning position and ultra-wide band position location of target object；
Determining device, for determining the target object according to the laser positioning position and ultra-wide band position location got
Physical location, wherein the determining device is used for:
Judge the positional distance between the laser positioning position of target object and ultra-wide band position location whether in pre-determined distance threshold
It is worth in section；If the positional distance is not in the pre-determined distance threshold interval, within a preset range to the target pair
As re-starting laser positioning, with the physical location of the determination target object, wherein the preset range is with the super band
Wide position location is the center of circle, using preset error threshold section as the range of radius.
10. equipment according to claim 9, wherein the acquisition device is also used to:
Electronic tag is set on target object, in the indoor setting base station where target object；
By the communication of the electronic tag and base station, the ultra-wide band position location of target object is obtained.
11. equipment according to claim 10, wherein the base station is set to the indoor top.
12. equipment according to claim 10, wherein the quantity of the base station is at least two.
13. equipment according to claim 9, wherein the determining device is also used to:
If the positional distance is located in the pre-determined distance threshold interval, the laser positioning position is determined as the mesh
Mark the physical location of object.
14. equipment according to claim 9, wherein the determining device is used for:
Laser positioning is re-started to the target object within a preset range, position is relocated with the updated laser of determination；
Based on the updated laser reorientation position and the ultra-wide band position location, the reality of the target object is determined
Position.
15. device, method according to claim 14, wherein the determining device is used for:
If the positional distance between the updated laser reorientation position of the target object and ultra-wide band position location is in institute
It states in pre-determined distance threshold interval, then laser reorientation position is determined as to the physical location of the target object.
16. equipment according to claim 15, wherein the determining device is used for:
If the target object updated laser reorientation position and ultra-wide band position location between reorientation position away from
From not in the pre-determined distance threshold interval, then laser is re-started to the target object based on the ultra-wide band position location
Positioning relocates position with the updated laser of determination, repeats this step, until the updated laser weight of the target object
Positional distance between position location and ultra-wide band position location is in the pre-determined distance threshold.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106643694B (en) * | 2016-11-04 | 2019-06-18 | 航天科工智能机器人有限责任公司 | A kind of robot indoor orientation method |
| CN106802670A (en) * | 2017-03-21 | 2017-06-06 | 四川智航慧飞无人机科技有限公司 | The flight control method of unmanned plane |
| CN108169707A (en) * | 2017-11-30 | 2018-06-15 | 中原智慧城市设计研究院有限公司 | Passive type location algorithm based on ultra wide band energy spectrum feature vector |
| CN110340935B (en) * | 2018-04-03 | 2021-11-30 | 深圳市神州云海智能科技有限公司 | Robot fusion positioning method and robot |
| CN108549088B (en) * | 2018-04-27 | 2020-10-02 | 科沃斯商用机器人有限公司 | Positioning method, device and system based on robot and storage medium |
| CN110366098B (en) * | 2019-07-05 | 2020-11-03 | 北京海益同展信息科技有限公司 | Target positioning method, server and base station for target positioning |
| CN110460960B (en) * | 2019-09-12 | 2023-07-25 | 南京工程学院 | Ultra-wideband indoor positioning error compensation method |
| CN117152197B (en) * | 2023-10-30 | 2024-01-23 | 成都睿芯行科技有限公司 | Method and system for determining tracking object and method and system for tracking |
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